Michael Carroll

> After this, we can reuse the collected rcl shared_ptrs to rebuild the waitset, without the need to call lock on the weak_ptrs to the rclcpp elements. So this would...

> This is a great feature, but I wonder if it should go somewhere else, e.g. rcpputils. Agree on both counts. `rcpputils` seems like an ideal candidate here.

@osrf-jenkins retest this please

@JoanAguilar still a few Windows issues here: ``` C:\Jenkins\workspace\ign_gazebo-pr-win\ws\gz-sim\test\integration\added_mass.cc(50,33): error C2065: 'M_PI': undeclared identifier [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\build\gz-sim7\test\integration\INTEGRATION_added_mass.vcxproj] C:\Jenkins\workspace\ign_gazebo-pr-win\ws\gz-sim\test\integration\added_mass.cc(50,14): error C2737: 'kForceAngVel': const object must be initialized [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\build\gz-sim7\test\integration\INTEGRATION_added_mass.vcxproj] C:\Jenkins\workspace\ign_gazebo-pr-win\ws\gz-sim\test\integration\added_mass.cc(56,34): error C2065: 'M_PI': undeclared...

@osrf-jenkins retest this please

This has been open for quite some time, I don't think there is any intention to pick it up in the near future. I'm going to close it.

This has been open for quite some time, I don't think there is any intention to pick it up in the near future. I'm going to close it.

Neat! Thanks for the effort. Do you think that it would make sense to link this off of https://github.com/ros2/ros2_documentation

It may be that this tutorial needs to be updated to take advantage of file-content substitution, which was added late in the iron release cycle: https://github.com/ros2/launch/pull/708

Friendly ping @arjo129 , you have some outstanding comments here.